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/* Author: Xinsheng Tang */
#pragma once
#include <jsoncpp/json/json.h>
#include <std_msgs/String.h>

#include <string>
#include <vector>

class robot_exception {
 public:
  robot_exception(std::vector<std::string> msgs = {"YES", ""},
              std::vector<double> relocation_err = {},
              std::vector<int> exception_bottle = {}, int rack_absnum = 0) {
    root1["IsDone"] = msgs[0];
    root1["Exception_"] = msgs[1];
    root1["Exception_bottle_all"] = Json::Value(Json::ValueType::arrayValue);
    root1["rack_num"] = rack_absnum;
    for (int i = 0; i < relocation_err.size(); ++i)
      root2[i] = relocation_err[i];
    root1["location_error"] = root2;
    // TODO:对接exception_bottle的返回形式,需要重写
    if (exception_bottle.size() == 10) {
      for (int i = 0; i < 10; ++i) root2[i] = exception_bottle[i];
      root1["Excption_bottle_all"] = root2;
    }
    _pubmsgs.data = root1.toStyledString();
  }
  std_msgs::String what() { return _pubmsgs; }
  std::string get_exception() { return root1["Exception_"].asString(); }
  Json::Value root1, root2;
  std_msgs::String _pubmsgs;
};